US5012252A - Methods of recognizing targets - Google Patents

Methods of recognizing targets Download PDF

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Publication number
US5012252A
US5012252A US06/895,004 US89500486A US5012252A US 5012252 A US5012252 A US 5012252A US 89500486 A US89500486 A US 89500486A US 5012252 A US5012252 A US 5012252A
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United States
Prior art keywords
lines
spatial information
data base
continuity
unidentified
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Expired - Fee Related
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US06/895,004
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English (en)
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Alistair R. Faulkner
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Allard Way Holdings Ltd
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GEC Avionics Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/28—Details of pulse systems
    • G01S7/285—Receivers
    • G01S7/292—Extracting wanted echo-signals
    • G01S7/2923—Extracting wanted echo-signals based on data belonging to a number of consecutive radar periods
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • G01S7/411—Identification of targets based on measurements of radar reflectivity
    • G01S7/412—Identification of targets based on measurements of radar reflectivity based on a comparison between measured values and known or stored values
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
    • G06V10/74—Image or video pattern matching; Proximity measures in feature spaces
    • G06V10/75—Organisation of the matching processes, e.g. simultaneous or sequential comparisons of image or video features; Coarse-fine approaches, e.g. multi-scale approaches; using context analysis; Selection of dictionaries
    • G06V10/751—Comparing pixel values or logical combinations thereof, or feature values having positional relevance, e.g. template matching
    • G06V10/7515—Shifting the patterns to accommodate for positional errors

Definitions

  • This invention relates to a method of recognizing a target in which method an attempt is made to recognize, in received radar signals, characteristics which enable a reasoned judgement to be made as to the identity or nature of the target.
  • This invention attempts to enable different types of similar target to be identified: such as different classes of ship.
  • the invention provides a method of recognizing a target comprising creating a data base constituting a record of information deduced from radar returns representing successive range sweeps across an object of known type as seen from different angles and comparing information from at least one range sweep across an unidentified object with similar information recorded in the data base to ascertain whether the unidentified object is of the known type.
  • the invention also provides apparatus for recognizing a target comprising: a data base containing records for each of different known types of ob t each said record representing information derived from successive range sweeps across the object as seen from different angles; a pulse radar for providing signals representing range sweeps across an unidentified object., and comparator means for comparing information from at least one range sweep received from an unidentified object with similar information recorded for each type of object in the data base to ascertain whether the unidentified object belongs to one of the known types.
  • the principle of the invention relies on looking at the distribution in range of different points of reflection on the object to be identified, it is effective independent of the absolute range of the object and the resolution is not degraded with an increase in the absolute range as would be the case with a system which relied on angular resolution.
  • the method of the invention preferably includes the step of identifying, in the returns used to create the data base, lines of continuity in peaks of amplitude extending through successive range sweeps. Each such line can be assumed to represent the locus of important reflection points on the object and these lines alone are preferably recorded in the data base.
  • the shape of the lines and their relationship to each other define the relative positions of the reflection points and so another possibility would be to record in the data base, not the lines, but an indication of the aforementioned relative positions.
  • an identification process if signals are received from an object under observation over a sufficiently wide angular spread, a process similar to that carried out during the preparation of the data base can be performed resulting in the identification of similar lines of continuity and/or a deduction of the relative positions of reflection points. It is then possible to recognize whether the object under observation is of the type recorded in the data base by comparing the two sets of lines or the two sets of relative positions.
  • the strength of the received signal will vary along one of the identified lines. Also, the length of the identifiable line will vary with the characteristics of the feature giving rise to the reflection. The nature of the variations can be used to distinguish between different types of reflection point.
  • signals can only be received from an object to be identified from one particular aspect angle, it is not possible to identify the aforementioned lines in the received signal.
  • the received signal from the single aspect angle can be compared with the recorded data in the data base for each successive range sweep at all possible aspect angles.
  • the range sweep is received data concerning features located radially with respect to the radar.
  • the comparison process can advantageously be restricted to a particular part of the data base.
  • the data base may constitute a record of returns from different angles, all of which lie in the horizontal plane. Additionally, or alternatively, they can be from different angles in a vertical plane or in any other non-horizontal plane or planes.
  • FIG. 1 illustrates the process of recording data relating to a ship for use in a data base
  • FIG. 2 illustrates apparatus used for recording and subsequently using the data to identify an unknown target
  • FIG. 3 illustrates radar returns received during the operation illustrated in FIG. 1;
  • FIG. 4 is a pictorial representation of the information given by the lines shown in FIG. 2 superimposed on an outline of the ship.
  • a radar 1 is located on a ship 2 (an aircraft could alternatively be used) which is caused to encircle another ship 3 whilst adjusting the bore-sight of the radar to point towards the ship 3. This process is repeated for ships 3 of different types which it may be desired to recognise on subsequent occasions.
  • a ship 3 it would be possible to make the ship 3 turn on its axis with the radar 1 remaining stationary. Another possibility would be for the ship 3 to turn in a tight circle.
  • the output of the radar 1 is fed into a store 4 (FIG. 2) where the vertical columns represent different range cells and the horizontal rows represent range sweeps received from different aspect angles.
  • the number of range cells and range sweeps is shown greatly reduced in FIG. 2 and in practice the content of the store 4 might look as shown on FIG. 3 where the horizontal co-ordinate represents the aspect angle corresponding to the angle shown on FIG. 1; the vertical co-ordinate represents range; and each dot represents a peak in the return signal whose amplitude is represented by the size of the dot.
  • the store 4 can be a part of a random access digital memory or a disc included in a conventional computer such as a 68K microcomputer, e.g., a Hewlett Packard 9836.
  • Lines of continuity extending in the horizontal direction i.e. across successive range sweeps are now identified by a process mechanism 5 provided by a suitable program in the aforementioned computer.
  • a suitable program in the aforementioned computer.
  • Such a program can follow principles conventionally used in image recognition systems, e.g., as explained in "Application of Digital Signal Processing" by A. V. Oppenheim (Prentiss-Hall).
  • the lines of continuity can alternatively be identified by visual inspection of a display of the content of the store 4.
  • the information defining these lines, which are shown on FIG. 3, is recorded in one area 6A of a store 6 either automatically as in the illustrated system where the lines of continuity are identified automatically; or manually, using a digitizer provided with a light pen or similar device if the lines of continuity are identified by visual inspection.
  • the store 6 can be another part of the memory previously referred to. Different areas 6A of the store 6 are used to record data covering ships of different types so that the store 6 forms a data base defining characteristics of all those ships which may be encountered.
  • Such a program can also follow conventional principles e.g. as described in "Applications of Digital Signal Processing", A. V. Oppenheim, Editor, Prentice-Hall, Inc., Englewood Cliffs, N.J., pages 169 to 237.
  • the aspect angle of the ship under observation may be known either precisely or approximately.
  • a mechanism 9 is included which deduces from the radar returns the direction of motion of the ship under observation and thus a bracket of angles, e.g. 0° to 90° within which the ship can be assumed to lie.
  • the mechanism 9 is provided by another program or sub-program controlling the aforementioned computer and acting on the output of the radar system in a conventional manner.
  • the output of the mechanism 9 controls access by the comparator 7 to the data base 6 so as to limit the comparison process to those parts of each store location 6A appropriate to those aspect angles.
  • bracket of attitude values of the target under observation If the bracket of attitude values of the target under observation is not known, the data from the received signal within this unknown bracket must be correlated with all brackets of similar width in the recorded information in an endeavour to find a match. If the target can only be observed for a single attitude, the correlation will be between the lines of FIG. 3, in the data base, and points, for a single ⁇ value, from the received signal.
  • a programmed computer can be used to calculate, for each angle (i.e. each range sweep), the difference in range between a pair of lines such as shown on FIG. 3 which lines of the pair are overlapping in the sense that they occupy a common bracket of aspect angles.
  • the variation of that difference with aspect angle is a sine wave, because one point moves around the other.
  • the amplitude (representing range difference) and phase of the sine wave give the position of the two points on a ship relative to one another.
  • the computer deduces the relative positions for each pair of points and from this information calculates the absolute positions on the ship of
  • FIG. 4 The output of the computer is shown on FIG. 4 where the position of each reflection point is indicated by a cross shown, for the purposes of explanation, on a plan of the ship. For each such point, the variation of reflectivity with aspect angle, as given by the variation in the intensity of the received signal along the corresponding line of FIG. 3, is shown as a polar diagram.
  • the information is recorded in a data base like that shown at 6, for all ship types of interest and is compared with similar information found during an exercise to identify an unknown ship.
  • the absolute range of the ship 3 or other feature being recorded may vary. This can be due to failure of the observation vessel 2 to make a perfect circle around the ship 3 or due to the motion of the ship 3. For this reason the comparator 7 should compare the relative ranges of the different reflecting points on the vessel rather than their absolute ranges.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Artificial Intelligence (AREA)
  • Computing Systems (AREA)
  • Databases & Information Systems (AREA)
  • Evolutionary Computation (AREA)
  • General Health & Medical Sciences (AREA)
  • Medical Informatics (AREA)
  • Software Systems (AREA)
  • Health & Medical Sciences (AREA)
  • Multimedia (AREA)
  • Radar Systems Or Details Thereof (AREA)
US06/895,004 1985-06-28 1986-06-18 Methods of recognizing targets Expired - Fee Related US5012252A (en)

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Application Number Priority Date Filing Date Title
GB8516426 1985-06-28
GB8516426 1985-06-28

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US5012252A true US5012252A (en) 1991-04-30

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US (1) US5012252A (sv)
DE (1) DE3621661A1 (sv)
FR (1) FR2646922A1 (sv)
GB (1) GB2229027B (sv)
IT (1) IT1229629B (sv)
SE (1) SE8602879L (sv)

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5068666A (en) * 1986-07-30 1991-11-26 Thorn Emi Electronics Limited Radar
US5351055A (en) * 1989-11-21 1994-09-27 Furuno Electric Co., Ltd. Radar apparatus
US5392050A (en) * 1993-08-12 1995-02-21 Grumman Aerospace Corporation Method of recognizing a radar target object type and apparatus therefor
US5828334A (en) * 1994-11-10 1998-10-27 Deegan; Thierry Passive aircraft and missile detection device
US20040239556A1 (en) * 2003-03-17 2004-12-02 Eads Deutschland Gmbh Radar process for classifying or identifying helicopters
WO2007045104A1 (de) * 2005-10-21 2007-04-26 Polytronic International Ltd. Verfahren und vorrichtung zur erfassung der auftreffstelle von fliegenden objekten auf einem definierten trefferfeld
US20090184865A1 (en) * 2006-05-15 2009-07-23 Valoe Hilde Method and system for automatic classification of objects
US8138965B1 (en) * 2007-07-18 2012-03-20 Lockheed Martin Corporation Kinematic algorithm for rocket motor apperception
US8429153B2 (en) 2010-06-25 2013-04-23 The United States Of America As Represented By The Secretary Of The Army Method and apparatus for classifying known specimens and media using spectral properties and identifying unknown specimens and media
RU2534754C1 (ru) * 2013-06-25 2014-12-10 ОТКРЫТОЕ АКЦИОНЕРНОЕ ОБЩЕСТВО "НИИ измерительных приборов-Новосибирский завод имени Коминтерна" /ОАО "НПО НИИИП-НЗиК"/ Способ распознавания трассы цели и ложной трассы, формируемой синхронной ответной помехой (варианты)
EP2150836B1 (en) 2007-05-14 2015-11-04 Raytheon Company Methods and apparatus for selecting a target from radar tracking data
RU2622888C1 (ru) * 2016-08-18 2017-06-21 Георгий Галиуллович Валеев Способ опознавания целей (варианты)
US20180149731A1 (en) * 2015-04-28 2018-05-31 Furuno Electric Co., Ltd. Signal processor and radar apparatus
CN110007300A (zh) * 2019-03-28 2019-07-12 东软睿驰汽车技术（沈阳）有限公司 一种得到点云数据的方法及装置

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5621807A (en) * 1993-06-21 1997-04-15 Dornier Gmbh Intelligent range image camera for object measurement
JP3319242B2 (ja) * 1995-09-18 2002-08-26 三菱電機株式会社 レーダ装置

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US3984802A (en) * 1966-06-27 1976-10-05 The United States Of America As Represented By The Secretary Of The Navy Feature recognition system
US3992710A (en) * 1973-02-22 1976-11-16 The United States Of America As Represented By The Secretary Of The Navy Target tracker having target recognition means
US4470048A (en) * 1982-03-29 1984-09-04 Sperry Corporation Range profile target classifier
US4490718A (en) * 1975-11-06 1984-12-25 Lockheed Electronics Co., Inc. Radar apparatus for detecting and/or classifying an agitated reflective target
US4603331A (en) * 1968-11-19 1986-07-29 The United States Of America As Represented By The Secretary Of The Navy Radar target spectrum classifier

Patent Citations (5)

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Publication number Priority date Publication date Assignee Title
US3984802A (en) * 1966-06-27 1976-10-05 The United States Of America As Represented By The Secretary Of The Navy Feature recognition system
US4603331A (en) * 1968-11-19 1986-07-29 The United States Of America As Represented By The Secretary Of The Navy Radar target spectrum classifier
US3992710A (en) * 1973-02-22 1976-11-16 The United States Of America As Represented By The Secretary Of The Navy Target tracker having target recognition means
US4490718A (en) * 1975-11-06 1984-12-25 Lockheed Electronics Co., Inc. Radar apparatus for detecting and/or classifying an agitated reflective target
US4470048A (en) * 1982-03-29 1984-09-04 Sperry Corporation Range profile target classifier

Non-Patent Citations (4)

* Cited by examiner, † Cited by third party
Title
"Applications of Digital Signal Processing", A. V. Oppenheim, Editor, Prentice-Hall, Inc., Englewood Cliffs, New Jersey, pp. 169 to 237.
Applications of Digital Signal Processing , A. V. Oppenheim, Editor, Prentice Hall, Inc., Englewood Cliffs, New Jersey, pp. 169 to 237. *
M. I. Skolnik, "Introduction to Radar Systems" (2nd Edition), published 1981, McGraw-Hill, pp. 434-438.
M. I. Skolnik, Introduction to Radar Systems (2nd Edition), published 1981, McGraw Hill, pp. 434 438. *

Cited By (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5068666A (en) * 1986-07-30 1991-11-26 Thorn Emi Electronics Limited Radar
US5351055A (en) * 1989-11-21 1994-09-27 Furuno Electric Co., Ltd. Radar apparatus
US5392050A (en) * 1993-08-12 1995-02-21 Grumman Aerospace Corporation Method of recognizing a radar target object type and apparatus therefor
US5828334A (en) * 1994-11-10 1998-10-27 Deegan; Thierry Passive aircraft and missile detection device
US20040239556A1 (en) * 2003-03-17 2004-12-02 Eads Deutschland Gmbh Radar process for classifying or identifying helicopters
US7046192B2 (en) * 2003-03-17 2006-05-16 Eads Deutschland Gmbh Radar process for classifying or identifying helicopters
WO2007045104A1 (de) * 2005-10-21 2007-04-26 Polytronic International Ltd. Verfahren und vorrichtung zur erfassung der auftreffstelle von fliegenden objekten auf einem definierten trefferfeld
US8063815B2 (en) * 2006-05-15 2011-11-22 Telefonaktiebolaget L M Ericsson (Publ) Method and system for automatic classification of objects
US20090184865A1 (en) * 2006-05-15 2009-07-23 Valoe Hilde Method and system for automatic classification of objects
EP2150836B1 (en) 2007-05-14 2015-11-04 Raytheon Company Methods and apparatus for selecting a target from radar tracking data
US8138965B1 (en) * 2007-07-18 2012-03-20 Lockheed Martin Corporation Kinematic algorithm for rocket motor apperception
US8429153B2 (en) 2010-06-25 2013-04-23 The United States Of America As Represented By The Secretary Of The Army Method and apparatus for classifying known specimens and media using spectral properties and identifying unknown specimens and media
RU2534754C1 (ru) * 2013-06-25 2014-12-10 ОТКРЫТОЕ АКЦИОНЕРНОЕ ОБЩЕСТВО "НИИ измерительных приборов-Новосибирский завод имени Коминтерна" /ОАО "НПО НИИИП-НЗиК"/ Способ распознавания трассы цели и ложной трассы, формируемой синхронной ответной помехой (варианты)
US20180149731A1 (en) * 2015-04-28 2018-05-31 Furuno Electric Co., Ltd. Signal processor and radar apparatus
US10948570B2 (en) * 2015-04-28 2021-03-16 Furuno Electric Company Limited Signal processor and radar apparatus
RU2622888C1 (ru) * 2016-08-18 2017-06-21 Георгий Галиуллович Валеев Способ опознавания целей (варианты)
CN110007300A (zh) * 2019-03-28 2019-07-12 东软睿驰汽车技术（沈阳）有限公司 一种得到点云数据的方法及装置

Also Published As

Publication number Publication date
GB2229027B (en) 1990-11-21
IT1229629B (it) 1991-09-04
SE8602879D0 (sv) 1986-06-27
IT8648196A0 (it) 1986-06-30
FR2646922A1 (fr) 1990-11-16
GB2229027A (en) 1990-09-12
SE8602879L (sv) 1990-11-30
GB8615683D0 (en) 1990-06-13
DE3621661A1 (de) 1990-12-06

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